参考:https://blog.youkuaiyun.com/qq_21842557/article/details/50815000
https://zhuanlan.zhihu.com/p/20082486 陀螺仪
https://blog.youkuaiyun.com/jj2060/article/details/49533251 加速度计
http://www.dzsc.com/data/html/2010-11-29/87454.html 地磁
https://blog.youkuaiyun.com/qq_21842557/article/details/50993809 数据融合
https://blog.youkuaiyun.com/liweihua0007/article/details/65444141 GPS
https://blog.youkuaiyun.com/qq_16064871/article/details/52823591 GPS
https://blog.youkuaiyun.com/caz28/article/details/49365247 GPS
参考:https://blog.youkuaiyun.com/qq_21842557/article/details/50993809
https://blog.youkuaiyun.com/superrunner_wujin/article/details/55809648
https://legacy.gitbook.com/book/nephen/direction-cosine-matrix-imu-theory/details
https://blog.youkuaiyun.com/qq_21842557/article/details/50993809
卡尔曼滤波数据融合算法
https://blog.youkuaiyun.com/xiaolangyangyang/article/details/78499208